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oscillation_ctrl
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changed spiri model

This commit is contained in:
cesar 2022-08-30 16:13:20 -03:00
parent 469accc8dc
commit 82fc59ed33
4 changed files with 16 additions and 13 deletions
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1
airframes/4000_spiri
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@ -18,6 +18,7 @@ param set-default MC_PITCHRATE_I 0.15
#param load spiri_param/Vehicle_230_Parameters.params #param load spiri_param/Vehicle_230_Parameters.params
param set-default MPC_Z_VEL_MAX_UP 1.0 param set-default MPC_Z_VEL_MAX_UP 1.0
param set-default COM_RCL_EXCEPT 4
set MIXER quad_x set MIXER quad_x
set PWM_OUT 1234 set PWM_OUT 1234

18
airframes/4001_spiri_with_tether
View File

@ -7,16 +7,18 @@
. ${R}etc/init.d/rc.mc_defaults . ${R}etc/init.d/rc.mc_defaults
param set MC_ROLLRATE_K 2.35 param set-default MC_ROLLRATE_K 2.35
param set MC_ROLLRATE_D 0.0030 param set-default MC_ROLLRATE_D 0.0030
param set MC_ROLLRATE_I 0.15 param set-default MC_ROLLRATE_I 0.15
param set MC_PITCHRATE_K 2.35 param set-default MC_PITCHRATE_K 2.35
param set MC_PITCHRATE_D 0.0030 param set-default MC_PITCHRATE_D 0.0030
param set MC_PITCHRATE_I 0.15 param set-default MC_PITCHRATE_I 0.15
param set MPC_Z_VEL_MAX_UP 0.5 param set-default MPC_Z_VEL_MAX_UP 0.5
param set MPC_TKO_SPEED 1.0 param set-default MPC_TKO_SPEED 1.0
param set-default COM_RCL_EXCEPT 4
set MIXER quad_x set MIXER quad_x
set PWM_OUT 1234 set PWM_OUT 1234

1
launch/px4.launch
View File

@ -12,7 +12,6 @@
<arg name="pluginlists_yaml" default="$(find oscillation_ctrl)/config/px4_pluginlists.yaml" /> <arg name="pluginlists_yaml" default="$(find oscillation_ctrl)/config/px4_pluginlists.yaml" />
<arg name="config_yaml" default="$(find oscillation_ctrl)/config/px4_config.yaml" /> <arg name="config_yaml" default="$(find oscillation_ctrl)/config/px4_config.yaml" />
<include file="$(find mavros)/launch/node.launch"> <include file="$(find mavros)/launch/node.launch">
<arg name="pluginlists_yaml" value="$(arg pluginlists_yaml)" /> <arg name="pluginlists_yaml" value="$(arg pluginlists_yaml)" />
<arg name="config_yaml" value="$(arg config_yaml)" /> <arg name="config_yaml" value="$(arg config_yaml)" />

9
models/spiri/spiri.sdf
View File

@ -7,6 +7,7 @@
<inertial> <inertial>
<pose frame=''>0 0.00268 -0.000742 0 -0 0</pose> <pose frame=''>0 0.00268 -0.000742 0 -0 0</pose>
<mass>1.437</mass> <mass>1.437</mass>
<!--mass>0.5841</mass-->
<inertia> <inertia>
<ixx>0.1152</ixx> <ixx>0.1152</ixx>
<ixy>0</ixy> <ixy>0</ixy>
@ -473,7 +474,7 @@
<child>sonar_link</child> <child>sonar_link</child>
</joint--> </joint-->
<!--px4flow camera--> <!--px4flow camera-->
<include> <!--include>
<uri>model://px4flow</uri> <uri>model://px4flow</uri>
<pose>0.05 0 -0.05 0 0 0</pose> <pose>0.05 0 -0.05 0 0 0</pose>
</include> </include>
@ -488,9 +489,9 @@
<lower>0</lower> <lower>0</lower>
</limit> </limit>
</axis> </axis>
</joint> </joint-->
<!--lidar--> <!--lidar>
<include> <include>
<uri>model://lidar</uri> <uri>model://lidar</uri>
<pose>0 0 -0.05 0 0 0</pose> <pose>0 0 -0.05 0 0 0</pose>
@ -499,7 +500,7 @@
<joint name="lidar_joint" type="fixed"> <joint name="lidar_joint" type="fixed">
<parent>spiri::base</parent> <parent>spiri::base</parent>
<child>lidar::link</child> <child>lidar::link</child>
</joint> </joint-->
<plugin name='rosbag' filename='libgazebo_multirotor_base_plugin.so'> <plugin name='rosbag' filename='libgazebo_multirotor_base_plugin.so'>
<robotNamespace/> <robotNamespace/>
<linkName>base</linkName> <linkName>base</linkName>